Oussama Khatib
Instructor
CS225A: Experimental Robotics
Spring 2026
Please see the schedule below and monitor announcements.
The goal of this class is to introduce you to the intricate art of programming articulated robots. The course will review the basics of control theory in the first half of the quarter, and will require groups of three to four students to implement a motor task on one of our available robotic manipulators. Most projects involve some aspect of robot control, computer vision, and potentially some mechanical engineering, so teams should ideally possess programming as well as some mechanical expertise.
The choice of project is yours! We expect great things...
Staff
Xiyang Yeh
Instructor
Adrian Piedra
Course Assistant
Office hours: TBD
William Chong
Course Assistant
Office hours: TBD
Enzo Andreacchio
Course Assistant
Office hours: TBD
Timeline
| Date | Lecture | Handouts | Homework / Deadlines |
|---|---|---|---|
| Tue, Mar 31 | Introduction & Course Review | ||
| Thu, Apr 02 | Simulation & Graphics | ||
| Fri, Apr 03 | Software Setup (Time and Location TBD) | Homework 0 out. | |
| Tue, Apr 07 | Operational Space Dynamics | ||
| Thu, Apr 09 | Operational Space Control + Project Discussion | ||
| Fri, Apr 10 | Homework 0 due. Homework 1 out. | ||
| Tue, Apr 14 | Compliant Motion Control | ||
| Thu, Apr 16 | Task Redundancy Control I + Project Discussion | Initial project idea list + team assignment due before class. | |
| Fri, Apr 17 | Homework 1 due. Homework 2 out. | ||
| Tue, Apr 21 | Task Redundancy Control II + Project Discussion | ||
| Thu, Apr 23 | Project Discussion | ||
| Fri, Apr 24 | Homework 2 due. Homework 3 out. | ||
| Tue, Apr 28 | Project Discussion | ||
| Thu, Apr 30 | Project Proposal Presentations and Project Discussion | Project proposal presentations due before class. | |
| Fri, May 01 | Homework 3 due. | ||
| Tue, May 05 | Project Proposal Short Updates | ||
| Thu, May 07 | Lab Demos (in Gates 203) | ||
| Tue, May 12 | Project Outline Presentation (Group A) | Project outline presentation due before class. | |
| Thu, May 14 | Project Outline Presentation (Group B) | ||
| Tue, May 19 | Project Updates (Group A) | ||
| Thu, May 21 | Project Updates (Group B) | ||
| Tue, May 26 | Project Support Meetings | ||
| Thu, May 28 | Project Support Meetings | ||
| Tue, Jun 02 | Final Projection Presentations and Demos (in Gates 203) | Final report guidelines out. | |
| Tue, Jun 09 | Final reports and videos due. |
Calendar
March 2026
SunMonTueWedThuFriSat
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31Intro
April 2026
SunMonTueWedThuFriSat
1
2Sim + graphics
3Setup + HW0 out
4
5
6
7OS dynamics
8
9OSC + project
10HW0 due, HW1 out
11
12
13
14Compliant control
15
16TRC I + teams due
17HW1 due, HW2 out
18
19
20
21TRC II
22
23Project discussion
24HW2 due, HW3 out
25
26
27
28Project discussion
29
30Proposal presentations
May 2026
SunMonTueWedThuFriSat
1HW3 due
2
3
4
5Short updates
6
7Lab demos
8
9
10
11
12Outline pres. A
13
14Outline pres. B
15
16
17
18
19Updates A
20
21Updates B
22
23
24
25
26Support meetings
27
28Support meetings
29
30
31
June 2026
SunMonTueWedThuFriSat
1
2Final demos
3
4
5
6
7
8
9Reports + videos
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
Grading
| Component | Contribution to Grade |
|---|---|
| Homework (2 free late days; 20% deduction per late day up to 2 late days maximum per assignment) | 40% |
| Final Project Progression, Updates, and Demonstration | 50% |
| Final Project Report | 10% |
| Total | 100% |